International Journal of Engineering and Advanced Technology (IJEAT)

ISSN: 2249 8958, Volume-2, Issue-4, April 2013

Automatic Fire Sensing and Extinguishing

Robot Embedded With GSM Modem
U.Jyostna Sai Prasanna, M.V.D.Prasad
Abstract: Our goal is to develop an intelligent multi sensor
based fire fighting robot in our daily life. We design the fire
detection system using four flame sensors in the fire fighting
robot, and program the fire detection and fighting procedure
using sensor based method. The fire fighting robot is equipped
with four thermistors/flame sensors that continuously monitor
the temperature. If the temperature increases beyond the
predetermined threshold value, buzzer sounds to intimate the
occurrence of fire accident and a warning message will be sent to
the respective personnel in the industry and to nearby fire station
with the GSM module provided to it. Fire Fighting Robot
continuously monitors the temperature at four sensors and if fire
accident is true, the robot moves to the direction to which the
temperature is recorded to be the relatively maximum among the
four sensors and extinguishes the fire with water pump provided
to it. After extinguishing the fire it comes back to its initial
position. It is more advantageous than a smoke detector as it can
extinguish the fire at the inception than waiting for an object to
burn and produce smoke. When a smoke detector detects fire it,
sprays water all over the place, instead of that particular point of
source. It voluntarily detects and extinguishes fire without
human aid.
Index

Terms Extinguisher,
GSM, Microcontroller

Fire

Sensors,

I. INTRODUCTION
Robot is defined as a mechanical design that is capable of
performing human tasks or behaving in a human-like
manner. Building a robot requires expertise and complex
programming. Its about building systems and putting
together motors, flame sensors and wires, among other
important components. A fire fighter robot is one that has a
small fire extinguisher added to it. By attaching a small fire
extinguisher to the robot, the automation put out the fire by
human controlling. This paper covers the design and
construction of a robot that is able to sense and extinguish
fire. This robot implements the following concepts:
environmental sensing, proportional motor control. This
robot processes information from its various sensors and key
hardware elements via microcontroller. It uses thermistors or
ultraviolet or visible sensors to detect the fire accident. A
robot capable of extinguishing a simulated tunnel fire,
industry fire and military applications are designed and
built. Ultraviolet sensors/thermistors/flame sensors will be
used for initial detection of the flame. Once the flame is
detected, the robot sounds the alarm with the help of buzzer
provided to it, the robot actuates an electronic valve
releasing sprinkles of water on the flame. The project helps
to generate interests as well as innovations in the fields of
robotics while working towards a practical and obtainable
solution to save lives and mitigate the risk of property
damage.

Manuscript received April 5, 2013.

U.Jyostna Sai Prasanna, E.C.E, K.L.University Vaddeswaram, India.
M.V.D.Prasad, E.C.E, .K.L.University Vaddeswaram, India.

Fire fighters face risky situations when extinguishing fires

and rescuing victims, it is an inevitable part of being a
fire fighter. In contrast, a robot can function by itself
or be controlled from a distance, which means that fire
fighting and rescue activities could be executed without
putting fire fighters at risk by using robot technology
instead. In other words, robots decrease the need for
fire fighters to get into dangerous situations. This
robot provides fire protection when there is a fire in a
tunnel or in an industry by using automatic control of
robot by the use of microcontroller in order to reduced
loss of life and property damage. This robot uses dc
motors, castor
wheel, microcontroller,
sensors,
pump
and
sprinkler. Microcontroller is the heart of
the project. Microcontroller controls all the parts of the
robot by the use of programming. In this robot as the fire
sensor senses the fire, it sends the
signal
to
microcontroller; since the signal of the sensor is very weak
the amplifier is used so that it can amplify the signal and
sends
it
to
microcontroller.
As
soon
as
microcontroller receives the signal a buzzer sounds, the
buzzer sound is to intimate the occurrence of fire accident.
After the sounding of the buzzer microcontroller actuates
the driver circuit and it drives the robot towards fire place,
as the robot reaches near the fire microcontroller actuates
the relay and pump switch is made ON and water is
sprinkled on the fire through the sprinkler.
The
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A. Microcontroller
The AT89C51 is a low-power, high-performance CMOS 8bit Micro computer with 4K bytes of Flash Programmable
and Erasable Read Only Memory (PEROM).
Features of microcontroller:
1. Compatible with MCS-51 Products.
2. 4K Bytes of In-System.
3. Reprogrammable Flash Memory.
4. Fully Static Operation: 0 Hz to 24 MHz.
5. 128 x 8-Bit Internal RAM.
6. 6.32 Programmable I/O Lines Microcontroller has inbuilt
CPU, memory and peripherals to make it as a mini
computer. A microcontroller combines on to the same
microchip:
1. The CPU core
2. Memory (both ROM and RAM)
3. Some parallel digital I/O
Description:
The AT89C51 is a low-power, high-performance CMOS 8bit microcomputer with 4K bytes of Flash Programmable
and Erasable Read Only Memory (PEROM).. The on-chip
Flash allows the program memory to be reprogrammed insystem or by a conventional nonvolatile memory
programmer. By combining a versatile 8-bit CPU with Flash
on a monolithic

221

chip, the Atmel AT89C51 is a powerful microcomputer

which provides a highly flexible and cost effective solution
to many embedded control applications. Micro Controller
contains 4K bytes of Flash, 128 bytes of RAM, 32 I/O lines,
two 16-bit timer/counters, a five vector two-level interrupt
architecture, a full duplex serial port, on-chip oscillator and
clock circuitry. In addition, the AT89C51 is designed with
static logic for operation down to zero frequency and
supports two software selectable power saving modes. The
Idle Mode stops the CPU while allowing the RAM,
timer/counters, serial port and interrupt system to continue
functioning. The Power Down Mode saves the RAM
contents but freezes the oscillator disabling all other chip
functions until the next hardware reset.

microchip PIC range of microcontrollers. AT89C51 is the 40

pins, 8 bit Microcontroller manufactured by Atmel group. It
is the flash type reprogrammable memory. Advantage of this
flash memory is we can erase the program within few
minutes. It has 4kb on chip ROM and 128 bytes internal
RAM and 32 I/O pin as arranged as port 0 to port 3 each has
8 bit bin .Port 0 contain 8 data line(D0-D7) as well as low
order address line(AO-A7). Port 2 contain higher order
address line (A8-A15). Port 3 contains special purpose
register such as serial input receiver register SBUF, interrupt
INT0,INT1 and timers T0 , T1 many of the pins have multi
functions which can be used as general purpose I/O pins (or)
Special purpose function can be decided by the programmer
itself.

Pin Description:
VCC: Supply voltage.
GND: Ground.
Port 0: Port 0 is an 8-bit open drain bidirectional I/O port.
As an output port each in can sink eight TTL inputs. When
1s are written to port 0 pins, the pins can be used as high
impedance inputs. Port 0 also receives the code bytes during
Flash programming, and outputs the code bytes during
program verification.
Port 1: Port 1 is an 8-bit bidirectional I/O port. The Port 1
output buffers can sink/source four TTL inputs. inputs. As
Port 1 pins that are externally being pulled low will source
current (IIL) because of the internal pull-ups. Port 1 also
receives the low-order address bytes during Flash
programming and verification.
Port 2: Port 2 is an 8-bit bidirectional I/O port. The Port 2
output buffers can sink/source four TTL inputs. When 1s are
written to Port 2 pins they are pulled high by the internal
pullups and can be used as inputs. As inputs, Port 2 pins that
are externally being pulled low will source current (IIL)
because of the internal pullups. Port 2 emits the high-order
address byte during fetches from external program memory
and during accesses to external data memory that uses 16-bit
addresses (MOVX @ DPTR). Port 2 also receives the highorder address bits and some control signals during Flash
programming and verification.
Port 3: It is an 8-bit bidirectional I/O port with internal pullups.Port 3 pins that are externally being pulled low will
source current (IIL) because of the pull-ups. Port 3 also
serves the functions of various special features of the
microcontroller.
Microcontrollers are:
1. Smaller in size
2. Consumes less power
The Micro Controller having the internal memory to store
the data or written program by the user and also having the
control system to control the input and output data
corresponding to the internal program written by the user.
All the components like humidity sensor, temperature
sensor, driver circuits and display will connect to the Micro
Controller with the help of connecting tracks. Micro
controller is a standalone unit, which can perform functions
on its own without any requirement for additional hardware
like I/O ports and external memory. The heart of the
microcontroller is the CPU core. In the past, this has
traditionally been based on an 8-bit microprocessor unit. In
the recent years, microcontrollers have been developed
around specifically designed CPU cores, for example the

B. Electrical Components:
The uses 12V DC motors, Microcontroller, Fire extinguisher
system will use a nominal voltage of 12.0V at most. The
battery provides maximum power of 65 W and an average
power of 7.8 Watts.
C. Features of the Fire Sensing and Extinguishing Robot:
1. The fire sensors are capable of detecting fire from 2 m
away.
2. The fire extinguisher works for a continuous time till
the water tank becomes empty.
3. The robot moves at 2.5 ft/sec on a flat surface,
accelerate from 0 to 1 ft/sec in two seconds.
4. The robot turns within a 6 radius and utilizes circular
or octagon design in order to minimize possible impact
area.
D. Programming Algorithm:
Before programming the AT89C51, the address, data and
control signals should be set up according to the Flash
programming mode table and Figures 3 and 4. To program
the AT89C51, take the following steps.
1. Input the desired memory location on the address lines.
2. Input the appropriate data byte on the data lines.
3. Activate the correct combination of control signals.
4. Raise EA/VPP to 12V for the high-voltage programming
mode.
E. Programming Interface:
Every code byte in the Flash array can be written and the
entire array can be erased by using the appropriate
combination of control signals. The write operation cycle is
self timed and once initiated, will automatically time itself to
completion. All major programming vendors offer
worldwide support for the Atmel microcontroller series.
Please contact your local programming vendor for the
appropriate software revision.
F. Fire sensors:
Using a UV sensor, a flame the size of a single candle can be
seen Five meters away. The Trekker utilizes a Hamamatsu
UV sensor that is mounted onto the Trekker sweeping sensor
brackets. The Trekker scans the area and finds an open
flame. The Hamamatsu UV TRON Flame Detector is
lightweight, has low current consumption, and operates as
high sensitivity UV Sensor.
Fire sensing is done in this way like, if fire accident occurs
in a area temperature in that area increases anonymously.
Thermistors can be used to detect the temperature.

Thermistors have negative temperature coefficient i.e., when

temperature increases resistance of thermistors decreases
i.e., the output voltage from the thermistors decreases.
Giving the output voltage of thermistor as one of the input to
the comparator and other input of the comparator a threshold
voltage value the occurrence of fire can be detected.
G. GSM Modem:
GSM modem is used to intimate the occurrence of fire
accident via SMS. Using GSM modem a predetermined
message can be send to required persons and also to fire
station so that they get alerted and reach the place quickly
where fire broken out.
H. Driver Circuit:
The driver circuit generally made by using one transistor
and one relay. The driver circuit was mainly operated by the
Micro Controller. The Micro Controller was change the state
of the output pin from the low to high that is from O level to
the 1 level. By using this sequence to control the base of the
transistor. The transistor will act as a ON/OFF switch
corresponding to the input of the base. If the base of the
transistor will high the transistor will act as a ON switch
otherwise it will act as OFF switch

the base. If the base current of the transistor is high the

transistor is under ON condition else it is in OFF state.
These conditions will be used to control the relay. The
thermal sensors provide the senses the heat from within the
room. First sensor will give the data to the micro controller
if it finds the heat. The micro controller pin bit will goes low
when the fire is present. The micro controller will always
scan the input signal of sensors. If the first sensor gives the
data about fire to the micro controller, it then finds the
movement to reach the fire by calculating the input data.
The micro controller can give the output to two motors. One
motor is used to move in forward direction to reach the
destination point and the other is used to sprinkle the water.
After end of fire the robot will go back to the original
position.
III. FIGURES
A. Blockdiagram:

I. DC Motors:
DC motors are generally more powerful than servos in terms
of speed and torque. Microcontroller could not accurately
control DC motors without a motor controller. Therefore,
motor Controllers are needed. An encoder used to get
feedback from the DC motor.
J. Chassis:
Another word for chassis is base. All components of the
robot are attached directly to the chassis; therefore a strong
yet light chassis will be ideal. Chassis can be made from
many different types of materials, some common types are
aluminum, steel, acrylic, plastic, and high density polymer.

FIG 1
Circuit
Diagram:
VCC

10K

VCC+5v

103 SIP
VCC

32

AC230V
4

VCC+5v 1

6
8
1
1N4001
TRANSFORMER

1
VIN

+ C1
2200uF/257V805
2

3
VOUT
+ C2
470uF/16V

223

U?

2
R69
RESISTOR VAR 2

1
2
3
4
5
6
7
8

LM393

P1.0

P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

P1

25
P2.4/A12 24
P2.3/A11 23
P2.2/A10 22
P2.1/A9 21
P2.0/A8

20
GND

11
12
RS232-DB9
R1OUT T1OUTT1IN
14
1 C1+

10/16 + 10/16

3
4 C15 C2+
2 C26 V+
V-

1N4001

T2IN

33pf

Y?

I1

I6

VCC
12 V

+
Buz
R45

MOTOR DC

C?C?
33pf 11.0592

VCC +12v

1RN?
103 SIP

13
R1IN

MOTOR DC

AT89C52/FP

16

5
9
VCC
4
8
3
7
MAX232
2
697
8 R2OUT T2OUT 10 R2IN
1

+
10/16
10/16 +

VCC 40
39

P0.1/AD1 38
P0.0/AD0 37
P0.2/AD2 36
P0.3/AD3 35
P0.4/AD4 34
P0.5/AD5 33
P0.6/AD6 32
9
10 RST P0.7/AD7
VCC
11 P3.0/RXD
31
12 P3.1/TXD
EA/VPP 30
C?
+13 P3.2/INT0 ALE/PROG 29
10/1614 P3.3/INT1
PSEN
15 P3.4/T0
28
16 P3.5/T1
P2.7/A15 27
17 P3.6/WR P2.6/A14 26 P3.7/RD
P2.5/A13

R?
8.2K

high, i.e. from O level to the 1 level. The transistor will act as
an ON/OFF switch corresponding to the input of
3

K. Working:
Robot uses microcontroller to drive four flame sensors, and
transmit distance range to main controller of the fire fighting
robot through series interface. To drive the all the
components 5v dc and 12 v dc are required. The mains give
the 230v ac so first we step down the 230v ac in to 12v ac
by using step down transformer. Then the output is given to
the full wave rectifier. The rectifier eliminates the negative
peek voltage of the input voltage .The output of the rectifier
is the pulsating dc. The error pulses are eliminating by using
capacitor filter. Then the output at the parallel of the
capacitor is the 12v dc. But the Micro Controller is work on
5v dc .To convert the 12v dc into 5v dc a regulator (7805) is
used. The output of the regulator is constant irrespective of
the input voltage. The Micro Controller requires the preset
logic circuit for protection of the internal program and
internal clock in case of power failure. A sudden change in
the power may cause data error resulting in the corruption of
the internal program. The reset logic circuit contains one
capacitor and a resistor. The driver circuit generally made by
using one transistor and one relay. The driver circuit is
mainly operated by the Micro Controller. The Micro
controller changes the state of the output pin from the low to

T1
1
5

VCC+5v
1

U245301198A

GN D

NTC

Q? BC547

O1 18
2
17
3 I2
O2 16
4 I3 O3 15
I4
O4 14
I5
O5 13
O6 12
8 I7 O7 1 1
I8
O8
9 I9
N/C 10
ULN2803

BC557

89

XTAL2 XTAL1

GN DVCC

18

15

19

FIG 2
IV. ADVANTAGES,
DISADVANTAGES,
CONCLUSION
A. Advantages:
1. Prevention from dangerous incidents
2. Minimization of
ecological consequences
financial loss
a threat to a human life

224

B. Disadvantages:
1. Doesnt predict nor interfere with operators thoughts.
2. Cannot force directly the operator to work.
C.CONCLUSION:
This paper gives a detailed mechanism about the robot that
continuously monitors, intimates the respective personnel
and extinguishes the fire. In the industry if any fire accident
occurs, there is a need of person to monitor continuously
and rectify it. In this process if any time delay takes place
irreparable loss occurs since it is a cotton industry
V.

FUTURE SCOPE:

In the present condition it can extinguish fire only in the

way and not in all the rooms. It can be extended to a real fire
extinguisher by replacing the water carrier by a carbon-dioxide carrier and by making it to extinguish fires of all the
room using microcontroller programming. Also the robot
could not be run through the batteries because at some
conditions the current requirement for the circuit rises to
about .8A which is very high and can not be obtained using
batteries.
REFERENCES
[1] Muhammad Ali Mazidi, the 8051 Microcontroller and
Embedded Systems.
[2] Verner, I.; and Betzer, N. 2001. Machine Control - A Design and
Technology Discipline in Israel's Senior High Schools. International
Journal of Technology, In press.
[3] Jones, J.; Seiger, B.; and Flynn, A. 1999. Mobile Robots, Inspiration to
Implementation, 2nd ed. Natick, Mass: A. K. Peters.
[4] Wireless communication technologies: new multimedia Systems By
Norihiko Morinaga
[5] Encyclopedia of Fire fighter surveillance robot

U.Jyostna Sai Prasanna is born in Guntur, Guntur

district, Andhra Pradesh pursuing B.Tech Final year in
Electronics and Communication Engineering from
K.L.University, in the period of 2009-2013.

MVD Prasad is born in Vijayawada, Krishna district,

Andhra Pradesh, India on 28thjanuary 1983, Assistant
Professor Dept. of Electronics and Communication
Engineering, K.L.University. Worked in Avanthis
Research and Tech Academy till 2009-feb-2012. Areas of
interest are Optical communications and Embedded
design.